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Proceedings of the 2011 American Control Conference最新文献

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Salient point quadrature nonlinear filtering 重点是正交非线性滤波
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5990851
Bin Jia, M. Xin, Yang Cheng
{"title":"Salient point quadrature nonlinear filtering","authors":"Bin Jia, M. Xin, Yang Cheng","doi":"10.1109/ACC.2011.5990851","DOIUrl":"https://doi.org/10.1109/ACC.2011.5990851","url":null,"abstract":"In this paper, a new nonlinear filter named Salient Point Quadrature Filter (SPQF) using a sparse grid method is proposed. The filter is derived using the so-called salient points to approximate the integrals in the Bayesian estimation algorithm. The univariate salient points are determined by the moment match method and then the sparse-grid theory is used to extend the univariate salient point sets to multi-dimensional cases. Compared with the other point-based methods, the estimation accuracy level of the new filter can be flexibly controlled and the filter algorithm is computationally more efficient since the number of salient points for SPQF increases polynomially with the dimension, which alleviates the curse of the dimensionality for high dimensional problems. Another contribution of this paper is to show that the Unscented Kalman Filter (UKF) is a subset of the SPQF with the accuracy level 2. The performance of this new filter was demonstrated by the orbit determination problem. The simulation results show that the new filter has better performance than the Extended Kalman Filter (EKF) and UKF.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133896848","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
A graph theoretical approach toward a switched feedback controller for pursuit-evasion scenarios 追逐-逃避切换反馈控制器的图论方法
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5990814
Brian J. Goode, A. Kurdila, M. Roan
{"title":"A graph theoretical approach toward a switched feedback controller for pursuit-evasion scenarios","authors":"Brian J. Goode, A. Kurdila, M. Roan","doi":"10.1109/ACC.2011.5990814","DOIUrl":"https://doi.org/10.1109/ACC.2011.5990814","url":null,"abstract":"This research introduces a novel method for constructing a switched feedback control system to be used for an autonomous agent. The state space is partitioned into sets of states where a specific control is applied. Each partition is represented by nodes of a digraph where the success of the control in traversing the partitions is represented by a connecting edge. Using the concept of capture sets in the field of differential games, it is shown that a set of states included in a particular partition is capable of reaching the target set if the eigenvalues of the adjacency matrix representing the digraph are all zero and none of the partitions are invariant. The advantage of this method is that it is possible to assign finite horizon controls to each partition that are easier to calculate than infinite horizon methods, but still maintain the infinite horizon guarantee of reaching the target. An example is given to illustrate the implementation of the proposed controller.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133860135","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 10
Advanced traveler information system with communication constraints 具有通信约束的高级旅行者信息系统
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5991547
Rohit Kumar, D. Castañón
{"title":"Advanced traveler information system with communication constraints","authors":"Rohit Kumar, D. Castañón","doi":"10.1109/ACC.2011.5991547","DOIUrl":"https://doi.org/10.1109/ACC.2011.5991547","url":null,"abstract":"The Advanced Traveler Information Systems (ATIS), which provide real-time information about public transit to the commuters have gained tremendous popularity in last few years. The accuracy of such a system depends on the location information of the bus at the base station. Consequently bus uses a fixed transmission policy of communicating periodically to base station. This periodic communication is generally expensive, and it is in fact one of the main factors that prevents aggressive deployment of such systems. In this paper we first propose new architecture and develop new framework to study the ATIS in a communication constrained environment and then propose three different techniques for implementation of the system that tries to minimize loss in accuracy in this constrained environment. Simulation examples are provided in the end to support the proposed theory.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131781266","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Multiple vehicle Bayesian-based domain search with intermittent information sharing 基于间歇信息共享的多车贝叶斯域搜索
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5990845
Yue Wang, I. Hussein
{"title":"Multiple vehicle Bayesian-based domain search with intermittent information sharing","authors":"Yue Wang, I. Hussein","doi":"10.1109/ACC.2011.5990845","DOIUrl":"https://doi.org/10.1109/ACC.2011.5990845","url":null,"abstract":"This paper focuses on the development of Bayesian-based domain search strategies for distributed multiple autonomous vehicles with intermittent information sharing. Multi-sensor fusion based on observations from neighboring vehicles is implemented via binary Bayesian filtering. We will prove that, under appropriate sensor models, the belief of whether objects exist or not will converge to the true state. An uncertainty map based on these probabilities is constructed to guide the vehicles' motion. It will be shown that all objects in the search domain will be detected. Different motion control schemes are numerically tested to illustrate the effectiveness of the proposed strategy.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"233 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131160791","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Robust adaptive control of a Magnetic Shape Memory actuator for precise positioning 磁形状记忆作动器精确定位的鲁棒自适应控制
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5990837
L. Riccardi, D. Naso, B. Turchiano, H. Janocha
{"title":"Robust adaptive control of a Magnetic Shape Memory actuator for precise positioning","authors":"L. Riccardi, D. Naso, B. Turchiano, H. Janocha","doi":"10.1109/ACC.2011.5990837","DOIUrl":"https://doi.org/10.1109/ACC.2011.5990837","url":null,"abstract":"Due to their outstanding strain capability, Magnetic Shape Memory actuators are a promising technology for positioning systems. Their wide hysteresis and dependence on temperature require a control system capable to cope with time-varying hysteresis as well as other uncertainties. In this paper, we adopt a modified Prandtl-Ishlinskii operator to capture and compensate by inverse model the hysteresis adaptively. A robust adaptive controller based on adaptive bounding techniques is then designed and integrated in order to improve the performance of the adaptive compensator. Experimental results on a 1DOF linear positioning prototype with micrometric precision confirm the effectiveness of the approach.approach.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130852765","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 16
Correlation of multiple singular observations and initial state estimation by means of probability distributions of high codimension 利用高协维概率分布的多重奇异观测值与初始状态估计的相关性
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5990811
K. Fujimoto, D. Scheeres
{"title":"Correlation of multiple singular observations and initial state estimation by means of probability distributions of high codimension","authors":"K. Fujimoto, D. Scheeres","doi":"10.1109/ACC.2011.5990811","DOIUrl":"https://doi.org/10.1109/ACC.2011.5990811","url":null,"abstract":"Optical observations of Earth-orbiting particles are singular in that multiple observations are required to determine the state of the object. It is generally uncertain, however, whether two arbitrary singular observations are of the same object, and solving this problem can be computationally intensive. In this paper, we propose a technique of correlating multiple singular observations and providing an initial estimate of the observed object's state by means of probability distributions in state space, provided the distributions have high codimension.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133018074","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Flexible aircraft reduced-order LPV model generation from a set of large-scale LTI models 柔性飞机大尺度LTI模型的降阶LPV模型生成
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5991178
Charles Poussot-Vassal, C. Roos
{"title":"Flexible aircraft reduced-order LPV model generation from a set of large-scale LTI models","authors":"Charles Poussot-Vassal, C. Roos","doi":"10.1109/ACC.2011.5991178","DOIUrl":"https://doi.org/10.1109/ACC.2011.5991178","url":null,"abstract":"In the civilian aeronautical industry, flexible aircraft models are often built and validated at frozen flight and mass configurations. Unfortunately, these medium(large)-scale models derived from high fidelity numerical tools are generally not well adapted for simulation, control and analysis. In this paper, a methodology to derive a reduced-order Linear Parameter Varying (LPV) model from a set of medium(large)-scale Linear Time Invariant (LTI) models describing a given system at frozen configurations is described. The proposed methodology is in three steps: (i) first, local model approximation is applied using recent advances in SVD-Krylov methods, (ii) then, an appropriate base change is applied to allow interpolation, (iii) and finally, an LPV model is derived and converted into a Linear Fractional Representation (LFR) of suitable size for analysis and control purposes. Results are thoroughly assessed on a set of industrial aeroelastic aircraft models.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133362365","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 19
Active braking control for two-wheeled vehicles via switched second order sliding modes 基于切换二阶滑模的两轮车辆主动制动控制
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5990761
M. Tanelli, A. Ferrara
{"title":"Active braking control for two-wheeled vehicles via switched second order sliding modes","authors":"M. Tanelli, A. Ferrara","doi":"10.1109/ACC.2011.5990761","DOIUrl":"https://doi.org/10.1109/ACC.2011.5990761","url":null,"abstract":"The design of an effective braking control system for two-wheeled vehicles is a challenging task, because of the complex dynamic behaviour of the vehicle due to the strong coupling between front and rear wheel and to the dependence of the wheel dynamics on the vehicle speed. To address this problem, this paper proposes to employ a novel switched second order sliding mode (S-SOSM) control strategy grounded on the suboptimal SOSM algorithm, which allows to enhance the closed-loop performance and to tune them to the current working condition.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"19 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132738787","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
A sub-optimal sensor scheduling strategy using convex optimization 基于凸优化的次优传感器调度策略
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5991025
Chong Li, N. Elia
{"title":"A sub-optimal sensor scheduling strategy using convex optimization","authors":"Chong Li, N. Elia","doi":"10.1109/ACC.2011.5991025","DOIUrl":"https://doi.org/10.1109/ACC.2011.5991025","url":null,"abstract":"In this paper, we consider a sub-optimal off-line stochastic scheduling of a single sensor that visits (measures) one site, modeled as a discrete-time linear time-invariant (DTLTI) dynamic system, at each time instant with the objective to minimize certain measure of the estimation error. The objective of this paper is to search the optimal probability distributions under two cost functions. We show that the optimal scheduling distribution is computable by solving a quasi-convex optimization problem in the case we focus on the minimization of maximal estimate error among sites. When the cost function is the average estimate error of all sites, the scheduling problem for a set of special DTLTI systems can be casted and efficiently solved as a convex optimization problem by exploiting the structure of the underlying Riccati-like equation. Furthermore, we propose a deterministic scheduling strategy based on the optimal stochastic one. Finally, we show some simulation results to verify our strategies.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133119023","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Parameter identifiability in parallel reaction networks with application to single-walled carbon nanotubes 平行反应网络的参数可辨识性及其在单壁碳纳米管中的应用
Proceedings of the 2011 American Control Conference Pub Date : 2011-08-18 DOI: 10.1109/ACC.2011.5991172
Kejia Chen, M. Kishida, Nitish Nair, M. Strano, R. Braatz
{"title":"Parameter identifiability in parallel reaction networks with application to single-walled carbon nanotubes","authors":"Kejia Chen, M. Kishida, Nitish Nair, M. Strano, R. Braatz","doi":"10.1109/ACC.2011.5991172","DOIUrl":"https://doi.org/10.1109/ACC.2011.5991172","url":null,"abstract":"The class of parameter estimation problems is characterized for which only the ratio of the model parameters can be identified. A mathematical signature is provided for identifying such systems, which include fed-batch reactors commonly operated in the chemical and biotechnology industries, in which reaction networks operate under quasi-steady-state conditions due to limiting addition of a reagent. The theoretical results are demonstrated through application to a single-walled carbon nanotube (SWNT) reaction network relevant to the design of nanobiosensors. Sensitivity analysis implies that such a quasi-steady-state operation of a fed-batch reactor results in the loss of information, in which none of the model parameters can be estimated.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133229352","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
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